CN107356446B - Loading spectrum testing system for loader working device, working device and loader - Google Patents
Loading spectrum testing system for loader working device, working device and loader Download PDFInfo
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- CN107356446B CN107356446B CN201710549715.6A CN201710549715A CN107356446B CN 107356446 B CN107356446 B CN 107356446B CN 201710549715 A CN201710549715 A CN 201710549715A CN 107356446 B CN107356446 B CN 107356446B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M99/00—Subject matter not provided for in other groups of this subclass
- G01M99/007—Subject matter not provided for in other groups of this subclass by applying a load, e.g. for resistance or wear testing
Abstract
The invention relates to a load spectrum testing system of a loader working device, a working device and a loader, wherein the load spectrum testing system comprises a load measuring module, the load measuring module comprises a two-dimensional force detecting part, the two-dimensional force detecting part is arranged at the hinged position of a movable arm and/or a pull rod on a bucket and simultaneously penetrates through hinged holes on two sides of each hinged position, so that the movable arm and/or the pull rod can rotate by taking the two-dimensional force detecting part as a shaft, and the two-dimensional force detecting part is used for detecting the stress of each hinged position along the longitudinal direction and the vertical direction of the loader during the operation of the bucket. The load spectrum testing system detects stress by acquiring the shear strain of each hinge joint position through the two-dimensional force detection part, the load form is consistent with the original pin shaft structure, the reliability of the two-dimensional force detection part during testing can be ensured, the problem of failure caused by too large stress strength is not easy to occur, and the load spectrum of the working device is reliably acquired when the loader works; but also can make full use of the existing bucket structure, and has simple arrangement and strong universality.
Description
Technical Field
The invention relates to the technical field of loader load testing, in particular to a loader working device load spectrum testing system, a loader working device and a loader.
Background
The fatigue life of the working device of the loader is gradually emphasized as an important index for measuring the reliability of the loader, and the load spectrum of the working device of the loader is a precondition and a basis for researching the fatigue reliability of the working device of the loader. The research on a load spectrum acquisition method, a compiling method and an application method of a working device of a practical and systematic engineering is a key point for solving the development bottleneck of the loader industry in China.
In the prior art, the load spectrum test of the loader working device generally adopts the method of sticking a strain gauge on the working device for measurement, and deduces and calculates the load spectrum of the working device through strain data.
However, in the process of shoveling and loading materials by the loader, due to collision and friction of the materials and a severe operating environment, the adhered strain gauge is easy to fall off and damage, so that the smooth operation of a load spectrum acquisition test is greatly hindered, the measurement is inconvenient, and the cost is higher.
Disclosure of Invention
The invention aims to provide a loading spectrum testing system of a loader working device, the loading spectrum testing system, the loading spectrum testing device and a loader, which can more reliably obtain a loading spectrum of the loading spectrum testing device in the process of shoveling and loading materials by the loader.
In order to achieve the above object, a first aspect of the present invention provides a load spectrum testing system for a loader work device, including a load measuring module, where the load measuring module includes a two-dimensional force detecting component, and the two-dimensional force detecting component is disposed at a hinge position of a boom and/or a pull rod on a bucket and simultaneously passes through hinge holes on two sides of each hinge position, so that the boom and/or the pull rod can rotate around the two-dimensional force detecting component, and is used for detecting forces applied to each hinge position along a longitudinal direction and a vertical direction of the loader during operation of the bucket.
Further, the load measuring module further comprises a transverse force detecting component, the transverse force detecting component is arranged on the bucket and is transversely located on the side portion of the movable arm hinge position along the loader, and the transverse force detecting component is connected with the movable arm and used for detecting the transverse stress of the loader at the movable arm hinge position during operation of the bucket.
Further, the lateral force detecting member is located inside the two-dimensional force detecting member in the lateral direction of the loader.
Furthermore, the load measuring module also comprises a force transmission seat, wherein the first end of the force transmission seat is abutted against the side face of the movable arm, the second end of the force transmission seat penetrates through a hinge hole at the hinge position of the movable arm, the hinge hole is close to one side of the transverse force detection part, and the transverse force detection part is abutted against the second end of the force transmission seat.
Further, the force transmission seat comprises a cylindrical structure and a bottom plate arranged at one end of the cylindrical structure, the cylindrical structure is embedded between the hole wall of the movable arm hinge hole and the two-dimensional force detection component, the open end of the force transmission seat abuts against the side face of the movable arm, and the transverse force detection component abuts against the bottom plate.
Further, the load measuring module further comprises an inner shaft sleeve and an outer shaft sleeve, wherein the inner shaft sleeve and the outer shaft sleeve are respectively sleeved on the inner surface and the outer surface of the cylindrical structure and rotate along with the force transmission seat.
Furthermore, an oil supply part is arranged on the force transmission seat, an oil duct is arranged in the force transmission seat and used for guiding lubricating oil provided by the oil supply part to a position between the matching surfaces of the inner shaft sleeve and the two-dimensional force detection part and a position between the matching surfaces of the outer shaft sleeve and the hole wall of the movable arm hinge hole.
Further, a through hole is formed in the force transmission seat and used for communicating a space formed between the two-dimensional force detection component and the force transmission seat with the outside.
Furthermore, one end of the transverse force detection component, which abuts against the force transmission seat, is provided with a hollow cavity, and a plug is arranged in the hollow cavity and used for enabling the transverse force detection component to abut against the force transmission seat through the plug.
Further, a fixing frame is arranged on the bucket along the side portion, close to the hinged position of the movable arm, of the loader in the transverse direction, the load measuring module further comprises a mounting seat, the mounting seat is arranged on the fixing frame, and the transverse force detecting component is fixed on the mounting seat.
Further, the load measurement module also comprises a force transmission seat, and the position of the transverse force detection component relative to the installation seat is adjustable so as to change the jacking force between the transverse force detection component and the force transmission seat.
Further, still include the position measurement module, the position measurement module includes:
the movable arm oil cylinder displacement detection component is used for detecting the telescopic displacement of the movable arm oil cylinder in real time; and/or
And the rocker arm oil cylinder displacement detection component is used for detecting the telescopic displacement of the rocker arm oil cylinder in real time.
In order to achieve the above object, a second aspect of the present invention provides a loader working device, including the loader working device load spectrum testing system according to the above embodiments.
In order to achieve the above object, a third aspect of the present invention provides a loader including the loader operating device according to each of the above embodiments.
Based on the technical scheme, the load spectrum testing system for the loader working device is characterized in that the two-dimensional force detection part is arranged at the hinge position of the movable arm and/or the pull rod on the bucket, and simultaneously penetrates through the hinge holes on two sides of each hinge position to be used as the rotating shaft of the movable arm and/or the pull rod, so that the stress of each hinge position along the longitudinal direction and the vertical direction of the loader can be measured during the operation of the bucket. The load spectrum testing system detects stress by acquiring the shear strain of each hinge joint position through the two-dimensional force detection part, the load form is consistent with the original pin shaft structure, the reliability of the two-dimensional force detection part during testing can be ensured, the problem of failure caused by too large stress strength is not easy to occur, and the load spectrum of the working device is reliably acquired when the loader works; but also can make full use of the existing bucket structure, and has simple arrangement and strong universality.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a schematic diagram of the overall structure of a load spectrum testing system of a loader working device, which is arranged on the working device;
FIG. 2 is an exploded view of one embodiment of a load measurement module in the load spectrum testing system of the loader work device of the present invention;
FIG. 3 is a cross-sectional view of one embodiment of a load measurement module in the loader work device load spectrum test system of the present invention;
FIG. 4 is a schematic structural diagram of one embodiment of a position measurement module in the loader work device load spectrum test system according to the present invention;
fig. 5 is a model diagram of external load derivation using the load spectrum testing system of the loader working device.
Description of the reference numerals
1. A movable arm; 2. a rocker arm; 3. a bucket; 4. a left two-dimensional force detection part; 5. an inner sleeve; 6. an outer sleeve; 7. a force transmission seat; 8. a plug; 9. a left lateral force detecting member; 10. locking the nut; 11. a mounting seat; 12. a fastener; 13. a right lateral force detecting member; 14. a right two-dimensional force detection part; 15. an oil supply unit; 16. an intermediate two-dimensional force detection component; 17. a fixed seat; 18. a boom cylinder displacement detecting unit; 19. a first mounting seat; 20. a second mounting seat; 21. a rocker arm cylinder displacement detection component; 22. a rocker arm cylinder; 23. a boom cylinder; 31. a fixed mount; 71. a through hole; 72. an oil passage; 91. an installation part; 92. and a testing part.
Detailed Description
The present invention is described in detail below. In the following paragraphs, different aspects of the embodiments are defined in more detail. Aspects so defined may be combined with any other aspect or aspects unless clearly indicated to the contrary. In particular, any feature considered to be preferred or advantageous may be combined with one or more other features considered to be preferred or advantageous.
The terms "first", "second", and the like in the present invention are merely for convenience of description to distinguish different constituent elements having the same name, and do not denote a sequential or primary-secondary relationship.
In the description of the present invention, it is to be understood that the terms "length", "width", "height", "up", "down", "left" and "right", etc., indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention, and do not indicate or imply that the device referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the scope of the present invention.
As shown in fig. 1, the working device of the loader includes a bucket 3, two booms 1 are provided on a mounting base of the loader, the two booms 1 are respectively hinged to left and right sides of a back surface of the bucket 3, and the booms 1 are driven to move by a boom cylinder 23 connected to the booms 1 to control a lifting movement of the bucket 3 in a vertical direction. The mounting base of the loader is also hinged with a rocker arm cylinder 22, and the rocker arm cylinder 22 is hinged at the middle position of the back surface of the bucket 3 through a rocker arm 2 and a pull rod in sequence and is used for controlling the overturning motion of the bucket 3 through the rocker arm cylinder 22.
In order to reliably test the load spectrum of the bucket 3, as shown in fig. 2, the load spectrum testing system for the loader working device includes a load measuring module, wherein the load measuring module includes a two-dimensional force detecting component, such as a two-dimensional force sensor, disposed at the hinged position of the boom 1 and/or the pull rod on the bucket 3, and viewed from the back of the bucket 3, and the two-dimensional force detecting component may include: the two-dimensional force detection device comprises a left two-dimensional force detection part 4 arranged at the position where the left boom 1 is hinged on the bucket 3, a right two-dimensional force detection part 14 arranged at the position where the right boom 1 is hinged on the bucket 3, and an intermediate two-dimensional force detection part 16 arranged at the position where the pull rod is hinged on the bucket.
Each two-dimensional force detection component comprises a thrust part and a rotating shaft part, a T-shaped structure is formed, the rotating shaft part of each two-dimensional force detection component simultaneously penetrates through hinge holes on two sides of each hinge position and is fixed on the hinge plate on one side of each hinge position by virtue of the thrust part, and for the two-dimensional force detection component on the hinge position of the movable arm 1, the thrust part is fixed on the hinge plate on the outer side of the hinge position. The movable arm 1 and/or the pull rod can rotate around a rotating shaft part of the two-dimensional force detection component, and the movable arm 1 or the pull rod is in clearance fit with the rotating shaft part of the two-dimensional force detection component and is used for detecting stress of each hinged position along the longitudinal direction and the vertical direction of the loader during operation of the bucket 3 in real time.
In order to facilitate the subsequent description of the stress in each direction, a coordinate system is established, and referring to fig. 5, the traveling direction of the loader is longitudinal, defined as y direction, and is the positive direction consistent with the traveling direction; the direction perpendicular to the loader travel direction in the horizontal plane is the lateral direction, defined as the x direction, and the direction toward the right side as viewed from the back of the bucket 3 is the positive direction; the vertical direction is defined as the z-direction, and the vertical direction is the positive direction.
The two-dimensional force detection component in the embodiment of the invention is similar to the pin shaft structure of each hinge position in the prior art, and the size and the loading form are consistent with those of the original pin shaft, so the two-dimensional force detection component can also be called as a pin shaft detection component, each hinge hole is not required to be reamed, the structural changes of the movable arm 1, the pull rod and the bucket 3 are small, the existing bucket structure is fully utilized, the arrangement is simple, and the universality is strong.
And the two-dimensional force detection part is simultaneously arranged in the hinge holes on two sides of a certain hinge position in a penetrating manner, so that the two-dimensional force detection part is free from bearing bending moment and only bears shear strain, the reliability of the two-dimensional force detection part during testing can be ensured, the problem of failure due to too large stress strength is not easy to occur, and the load spectrum of the working device can be accurately and reliably obtained when the loader works. If one end of the detection component is fixed on the bucket 3 and the other end is fixed on the movable arm 1, the load is obtained by obtaining the bending strain when the shaft is bent, which is equivalent to a cantilever beam structure, the detection component is easy to break during testing, and the reliability is poor.
Further, in order to obtain the load of the test working device in the lateral direction of the loader, still referring to fig. 2, the load measuring module of the present invention further includes a lateral force detecting member provided on the bucket 3 and located at a side of the articulated position of the boom 1 in the lateral direction of the loader, the lateral force detecting member being connected to the boom 1 for detecting in real time the force applied to the articulated position of the boom 1 in the lateral direction of the loader when the bucket 3 is operated. Preferably, the lateral force detection means is arranged coaxially with the two-dimensional force detection means of the articulated position of the boom 1.
For example, the left lateral force detecting means 9 is provided on the side of the hinge position of the left boom 1, and the right lateral force detecting means 13 is provided on the side of the hinge position of the right boom 1. When a lateral impact force is applied between the boom 1 and the bucket 3, the lateral impact force is directly transmitted to the lateral force detecting member.
Preferably, the lateral force detecting part is located inside the articulated position of the boom 1 in the lateral direction of the loader, that is, inside the two-dimensional force detecting part. The arrangement mode can fully utilize the space between the inner sides of the hinged positions of the two movable arms 1, and the transverse force detection part is positioned on the inner side, so that damage or falling off of external broken stones to the detection part can be prevented when the loader works, the working reliability of the detection part is protected, and the load spectrum of the working device along the transverse direction of the loader can be accurately and reliably acquired.
The mounting form of the lateral force detecting member will be described in detail below, taking the left lateral force detecting member 9 as an example for explanation. As can be seen from fig. 2, the bucket 3 is provided with a fixed frame 31 on the side adjacent to the hinge position of the left boom 1 in the lateral direction of the loader, and preferably the fixed frame 31 is provided on the inner side of the hinge position. The fixing frame 31 may be designed to be an L-shaped structure, a horizontal portion of the L-shaped structure is connected to a side surface of the left movable arm 1 located on the inner side hinged plate, and a vertical portion is provided with a mounting hole. In order to mount the left lateral force detecting member 9, as shown in the sectional view of fig. 3, the load spectrum testing system further includes a mount 11, the mount 11 is mounted in a mounting hole of the mount 31 by a plurality of fasteners 12 such as bolts, and the left lateral force detecting member 9 is fixed to the mount 11.
Preferably, the position of the transverse force detection component along the transverse direction of the loader relative to the mounting seat 11 is adjustable to change the mounting position of the transverse force detection component, so that the transverse force detection component and the movable arm 1 can stably transfer force, and the side load applied to the working device of the loader can be reliably measured.
In one form of construction, the left lateral force detecting member 9 includes a mounting portion 91 and a test portion 92. The mounting part 91 is of a screw structure and screwed in a threaded hole in the center of the mounting seat 11, and two sides of the mounting part 91 are positioned and locked by the locking nut 10. The position of the left lateral force detecting member 9 in the lateral direction of the loader can be adjusted by adjusting the screwing position of the lock nut 10 on the screw structure.
Still referring to fig. 3, in order to reliably transfer the lateral force applied to the movable arm 1 to the lateral force detecting member, the load measuring module further includes a force transferring seat 7, a first end of the force transferring seat 7 abuts against a side surface of the movable arm 1, a second end of the force transferring seat 7 passes through a hinge hole at a hinge position of the movable arm 1 near one side of the lateral force detecting member, and a testing portion 92 of the lateral force detecting member abuts against a second end of the force transferring seat 7. The arrangement of the force transmission seat 7 can simplify the connection difficulty between the movable arm 1 and the transverse force detection part and reduce the requirement on the installation position of the transverse force detection part.
Fig. 3 shows a structural form of the force transmission seat 7, the force transmission seat 7 includes a cylindrical structure and a bottom plate arranged at one end of the cylindrical structure, the cylindrical structure is embedded between the hole wall of the hinge hole at the inner side of the movable arm 1 and the left two-dimensional force detection component 4, the open end of the force transmission seat 7 abuts against the side surface of the movable arm 1, and the test part 92 of the transverse force detection component abuts against the bottom plate.
When the movable arm 1 rotates, the force transmission seat 7 rotates along with the movable arm 1 in the hinge hole, the transverse force detection component is kept fixed, the transverse force detection component and the bottom plate of the force transmission seat 7, the open end of the force transmission seat 7 and the movable arm 1 keep pretightening force, and therefore transverse force applied to the movable arm 1 can be reliably transmitted to the transverse force detection component through the force transmission seat 7.
The relative position of the transverse force detection component and the force transmission seat 7 can be changed by adjusting the locking nut 10, so that the testing part 92 of the transverse force detection component is always tightly propped against the force transmission seat 7, the other end of the force transmission seat 7 is tightly propped against the side surface of the movable arm 1, the transverse force detection component and the force transmission seat 7 form a force transmission path, and the transverse displacement generated by the transverse load on the movable arm 1 is transmitted to the transverse force detection component through the force transmission path.
In order to reduce the friction interference caused by the inner wall of the hinge hole of the bucket 3 in the force transmission process of the force transmission seat 7, the load measurement module further comprises an inner shaft sleeve 5 and an outer shaft sleeve 6, wherein the inner shaft sleeve 5 and the outer shaft sleeve 6 are respectively sleeved on the inner surface and the outer surface of the cylindrical structure and rotate along with the force transmission seat 7. Preferably, the inner sleeve 5 and the outer sleeve 6 are made of copper material. The structure can reduce the abrasion of the force transmission seat 7, thereby prolonging the service life.
In order to further reduce the friction force applied when the force transmission seat 7 rotates and protect the two-dimensional force detection part from abrasion, the force transmission seat 7 is provided with an oil supply part 15, such as an oil cup, an oil passage 72 is arranged inside the force transmission seat 7 and used for guiding lubricating oil (such as butter) provided by the oil supply part 15 to a position between the matching surfaces of the inner shaft sleeve 5 and the two-dimensional force detection part and between the matching surfaces of the outer shaft sleeve 6 and the hole wall of the hinged hole of the movable arm 1.
Furthermore, the force transmission seat 7 is provided with a through hole 71 for communicating a space formed between the two-dimensional force detection component and the force transmission seat 7 with the outside, so that the two-dimensional force detection component is not formed into a closed space in the force transmission seat 7 when being installed for exhausting, the two-dimensional force detection component is easy to install in place, and the installation difficulty is reduced. Preferably, the through hole 71 is provided in the center of the bottom plate of the force transmission base 7, so that the test portion 92 of the lateral force detecting member is not easily slid or displaced when it is pressed against the force transmission base 7.
In order to make the force measurement of the transverse force detection component more sensitive, one end of the transverse force detection component, which abuts against the force transmission seat 7, is provided with a hollow cavity, and particularly, a hole is formed in the end of the test part 92, so that when the same load is applied, the deformation of the transverse force detection component is increased, the measured strain signal is increased, and therefore, the sensitivity of the stress test is improved, and the transverse force applied to the bucket 3 is measured more accurately. Preferably, a plug 8 is inserted into the hollow cavity, so that the transverse force detection component is pushed onto the force transmission seat 7 through the plug 8 to ensure the structural strength of the corresponding position of the hollow cavity so as to avoid damage. The plug 8 can be subjected to quenching heat treatment to ensure sufficient hardness and avoid strength failure in the test process.
On the basis of the above embodiments, as shown in fig. 4, the load spectrum testing system of the present invention further includes a position measuring module to test the working position and the working attitude of the bucket 3 in real time. The position measuring module includes a boom cylinder displacement detecting part 18 and/or a rocker cylinder displacement detecting part 21. The boom cylinder 23 is provided with a first mounting seat 19, and the boom cylinder displacement detection part 18 is arranged on the first mounting seat 19 and is used for detecting the telescopic displacement of the boom cylinder 23 in real time. The rocker cylinder 22 is provided with a second mounting seat 20, and the rocker cylinder displacement detection part 21 is arranged on the second mounting seat 20 and used for detecting the telescopic displacement of the rocker cylinder 22 in real time.
By detecting the telescopic displacement of the boom cylinder 23 and the rocker cylinder 22 in real time, the working position curve of the bucket 3 changing with time can be obtained, and the working load curve and the working position curve of the bucket 3 are summarized to obtain the real-time load spectrum of the loader working device.
Therefore, the load spectrum testing system can reliably measure the external load, particularly the transverse load, which is applied to the working device in the shoveling operation process in real time. The external loads of the working device under different postures can be obtained by combining the position measuring module, so that the load spectrum of the working device is obtained, the problem that the load spectrum of the working device of the loader is inconvenient to measure is solved, the anti-fatigue design of the loader can be guided and improved through actually measuring the load spectrum, and the fatigue life of the loader is prolonged and improved.
Based on the load spectrum testing system of the present invention, a model for deriving the external load of the working device based on the above test results is given below, and fig. 5 is referred to.
And the origin A (0, 0, 0) of the coordinate system is arranged at the center of the outer edge of the bucket plate and is consistent with the loading position of the external load in the subsequent load bench test, so that the data processing of the measured load can be conveniently carried out in the later stage.
The hinged position of the pull rod on the bucket 3 is C, and the stress at C is F1(ii) a The hinged position of the left movable arm 1 on the bucket 3 is B, and the stress at the position B is F2(ii) a The hinged position of the right movable arm 1 on the bucket 3 is D, and the stress at the position D is F3. The coordinates of each hinge position are defined as: c (x)1，y1，z1)、B(x2，y2，z2)、D(x3，y3，z3). The coordinates of each articulation position can be converted, according to the geometry of the bucket 3, into: c (0, y)1，z1)、B(－x2，y2，z2)、D(x2，y2，z2)。
The load experienced for each hinge position is marked as follows: f1Represents the measurement of the intermediate two-dimensional force-sensing component 16; f2A measurement value representing the left two-dimensional force detection section 4; f3Representing the right two-dimensional force sensing component 14 measurements; f4LRepresents the measurement value of the left lateral force detecting member 9; f4RRepresents the measurement value of the right lateral force detection section 13; fx、Fy、Fz、Mx、My、MzThe external load and moment in three directions received by the working device. Wherein, F in FIG. 51、F2And F3Not the counter force to which the bucket 3 is subjected, but the force of the bucket 3 against the boom 1 or the stick (i.e. the measured load obtained by the two-dimensional force detection means), which forces change sign if the bucket 3 is subjected to a force analysis.
The left two-dimensional force detection part 4, the right two-dimensional force detection part 14 and the middle two-dimensional force detection part 16 in the load measurement module are used for measuring the force F received by the working device of the loader in the shoveling operation processyAnd Fz, left lateral force detecting section 9 and right lateral force detectingThe member 13 can measure the transverse force F to which the working device is subjectedxAs shown in fig. 5.
The measured load F can be obtained by the following mathematical model1、F2、F3、F4L、F4RWith external loads Fx, F of the working devicey、Fz、Mx、MyMz, and thereby deriving a load curve of the working device over time, as follows:
F4L＝(εL*KL+b1)
F4R＝(εR*KR+b2)
Fx＝F4L-F4R
Fx＝(εL*KL+b1)-(εR*KR+b2)
Fy＝Fy1+Fy2+Fy3
Fz＝Fz1+Fz2+Fz3-G
Mx＝Fz1*y1+Fz2*y2+Fz3*y2+Fy1*z1+Fy2*z2+Fy3*z2-GL
My＝(Fz2-Fz3)*x2
Mz＝(Fy3-Fy2)*x2
in the formula, G represents the gravity of the bucket 3; epsilonL、εRTest values of the left lateral force detecting member 9 and the right lateral force detecting member 13 are respectively indicated; kL、b1Indicating the calibration coefficient of the left lateral force detecting member 9; kR、b2Indicating the calibration coefficient of the right lateral force detecting member 13; l represents the distance from the gravity center of the bucket to the action point of the bucket tip; programming a calculation according to the above formula can obtain the external load by detecting the component test value. Such a calculation model not only considers the influence of the self-weight of the bucket 3, but also comprehensively calculates the external load of the bucket 3 including the external force in three directions (x, y, z) and the external force around three directionsMoments in directions (x, y, z).
The movable arm oil cylinder displacement detection part 18 and the rocker arm oil cylinder displacement detection part 21 in the position measurement module can measure the real-time displacement of the corresponding oil cylinders, and the position curve of the working device changing along with time can be obtained through derivation according to the displacement of the two oil cylinders. And summarizing the load curve and the position curve of the working device to obtain a real-time load spectrum of the loading machine working device.
The load spectrum testing system, the working device and the loader provided by the invention are described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to aid in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (11)
1. A load spectrum testing system of a loader working device is characterized by comprising a load measuring module, wherein the load measuring module comprises a two-dimensional force detecting component (4; 14; 16), the two-dimensional force detecting component (4; 14; 16) is arranged at the hinge position of a movable arm (1) and/or a pull rod on a bucket (3) and simultaneously penetrates through hinge holes on two sides of each hinge position so as to enable the movable arm (1) and/or the pull rod to rotate by taking the two-dimensional force detecting component (4; 14; 16) as a shaft, and the two-dimensional force detecting component (4; 14; 16) is used for acquiring the shear strain of each hinge position so as to detect the stress of each hinge position along the longitudinal direction and the vertical direction of a loader when the bucket (3) works;
the load measuring module further comprises a transverse force detecting component (9; 13) and a force transmission seat (7), wherein the transverse force detecting component (9; 13) is arranged on the bucket (3) and is located on the side part of the hinged position of the movable arm (1) along the transverse direction of the loader, and the transverse force detecting component (9; 13) is connected with the movable arm (1) and is used for detecting the stress of the hinged position of the movable arm (1) along the transverse direction of the loader when the bucket (3) works; the first end of the force transmission seat (7) is abutted against the side face of the movable arm (1), the second end of the force transmission seat penetrates through a hinge hole at the hinge position of the movable arm (1) and is close to one side of the transverse force detection part (9; 13), and the transverse force detection part (9; 13) is abutted against the second end of the force transmission seat (7);
the second end of the transverse force detection component (9; 13) abutted against the force transmission seat (7) is provided with a hollow cavity, and a plug (8) is arranged in the hollow cavity and used for enabling the transverse force detection component (9; 13) to abut against the force transmission seat (7) through the plug (8).
2. The loader work device load spectrum test system according to claim 1, characterized in that the lateral force detection member (9; 13) is located inside the two-dimensional force detection member (4; 14; 16) in the loader lateral direction.
3. The loader work device load spectrum testing system according to claim 1, wherein the force transmission seat (7) comprises a cylindrical structure and a bottom plate arranged at one end of the cylindrical structure, the cylindrical structure is embedded between the hole wall of the movable arm (1) hinge hole and the two-dimensional force detection part (4; 14; 16), the open end of the force transmission seat (7) abuts against the side surface of the movable arm (1), and the transverse force detection part (9; 13) abuts against the bottom plate.
4. The load spectrum testing system of the loader working device according to claim 3, wherein the load measuring module further comprises an inner shaft sleeve (5) and an outer shaft sleeve (6), and the inner shaft sleeve (5) and the outer shaft sleeve (6) are respectively sleeved on the inner surface and the outer surface of the cylindrical structure and rotate along with the force transmission seat (7).
5. The load spectrum testing system of the loader working device according to claim 4, wherein the force transmission seat (7) is provided with an oil supply part (14), and an oil passage (72) is arranged inside the force transmission seat (7) and used for guiding lubricating oil provided by the oil supply part (14) to a position between the matching surfaces of the inner shaft sleeve (5) and the two-dimensional force detection part (4; 14; 16) and between the matching surfaces of the outer shaft sleeve (6) and the hole wall of the hinged hole of the movable arm (1).
6. The load spectrum testing system of a loader work device according to claim 1, characterized in that the force transmission seat (7) is provided with a through hole (71) for communicating the space formed between the two-dimensional force detection member (4; 14; 16) and the force transmission seat (7) with the outside.
7. The loader work device load spectrum test system according to claim 1, wherein a fixed mount (31) is provided on the bucket (3) along a side portion of the loader laterally adjacent to the hinged position of the boom (1), the load measurement module further comprises a mounting seat (11), the mounting seat (11) is provided on the fixed mount (31), and the lateral force detection member (9; 13) is fixed on the mounting seat (11).
8. The loader work device load spectrum test system according to claim 7, characterized in that the position of the transverse force detection member (9; 13) relative to the mounting seat (11) is adjustable to vary the tightening force between the transverse force detection member (9; 13) and the force transmission seat (7).
9. The loader work device load spectrum testing system of any one of claims 1 to 8, further comprising a position measurement module, the position measurement module comprising:
a boom cylinder displacement detection part (18) for detecting the telescopic displacement of the boom cylinder (23) in real time; and/or
And the rocker arm oil cylinder displacement detection component (21) is used for detecting the telescopic displacement of the rocker arm oil cylinder (22) in real time.
10. A loader work apparatus comprising the loader work apparatus load spectrum test system according to any one of claims 1 to 9.
11. A loader comprising the loader work apparatus of claim 10.
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| CN201710549715.6A CN107356446B (en) | 2017-07-07 | 2017-07-07 | Loading spectrum testing system for loader working device, working device and loader |
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| CN201710549715.6A CN107356446B (en) | 2017-07-07 | 2017-07-07 | Loading spectrum testing system for loader working device, working device and loader |
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| CN107356446B true CN107356446B (en) | 2020-06-12 |
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| CN105004458B (en) * | 2015-07-23 | 2017-08-15 | 长安大学 | Loading shovel forces testing device and method of testing |
| CN105369846B (en) * | 2015-12-06 | 2018-04-10 | 吉林大学 | A kind of working device of loader load test system |
| CN105841871A (en) * | 2016-03-21 | 2016-08-10 | 长安大学 | Loader bucket lateral force testing device and testing method |
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